#!/bin/sh
#
# PX4 FMUv6X specific board sensors init
#------------------------------------------------------------------------------
set HAVE_PM2 yes

if ver hwtypecmp V6X50 V6X51 V6X53 V6X54
then
	set HAVE_PM2 no
fi
if param compare -s ADC_ADS1115_EN 1
then
	ads1115 start -X
else
	board_adc start
fi


if param compare SENS_EN_INA226 1
then
	# Start Digital power monitors
	ina226 -X -b 1 -t 1 -k start

	if [ $HAVE_PM2 = yes ]
	then
		ina226 -X -b 2 -t 2 -k start
	fi
fi

if param compare SENS_EN_INA228 1
then
	# Start Digital power monitors
	ina228 -X -b 1 -t 1 -k start
	if [ $HAVE_PM2 = yes ]
	then
		ina228 -X -b 2 -t 2 -k start
	fi
fi

if param compare SENS_EN_INA238 1
then
	# Start Digital power monitors
	ina238 -X -b 1 -t 1 -k start
	if [ $HAVE_PM2 = yes ]
	then
		ina238 -X -b 2 -t 2 -k start
	fi
fi

if ver hwtypecmp V6X04 V6X14 V6X44 V6X54
then
	# Internal SPI bus ICM20649
	icm20649 -s -R 6 start
else
# Internal SPI BMI088
	bmi088 -A -R 4 -s start
	bmi088 -G -R 4 -s start
fi

# Internal SPI bus ICM42688p
icm42688p -R 6 -s start

if ver hwtypecmp V6X03 V6X13 V6X33 V6X04 V6X14 V6X43 V6X44 V6X53 V6X54
then
	# Internal SPI bus ICM-42670-P (hard-mounted)
	icm42670p -R 10 -s start
else
	# Internal SPI bus ICM-20649 (hard-mounted)
	icm20649 -R 14 -s start
fi

# Internal magnetometer on I2c
if ver hwtypecmp V6X21
then
	rm3100 -I -b 4 start
else
	bmm150 -I start
fi

# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -b 1 -R 10 start

# Possible internal Baro
if ver hwtypecmp V6X21
then
	icp201xx -I -a 0x64 start
else
	bmp388 -I -a 0x77 start
fi

if ver hwtypecmp V6X00 V6X10
then
	bmp388 -I start
else
	if ver hwtypecmp V6X21
	then
		icp201xx -X start
	else
		bmp388 -X start
	fi
fi

# Baro on I2C3
ms5611 -X start

unset HAVE_PM2
